/**
* This file is part of ORB-SLAM.
*
* Copyright (C) 2014 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <http://webdiis.unizar.es/~raulmur/orbslam/>
*
* ORB-SLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM. If not, see <http://www.gnu.org/licenses/>.
*/


#ifndef Sim3Solver_hpp
#define Sim3Solver_hpp


#include <opencv2/opencv.hpp>
#include <vector>

#include "KeyFrame.hpp"

namespace ORB_SLAM
{
    
    class Sim3Solver
    {
    public:
        
        Sim3Solver(KeyFrame* pKF1, KeyFrame* pKF2, const std::vector<MapPoint*> &vpMatched12);
        
        void SetRansacParameters(double probability = 0.99, int minInliers = 6 , int maxIterations = 300);
        
        cv::Mat find(std::vector<bool> &vbInliers12, int &nInliers);
        
        cv::Mat iterate(int nIterations, bool &bNoMore, std::vector<bool> &vbInliers, int &nInliers);
        
        cv::Mat GetEstimatedRotation();
        cv::Mat GetEstimatedTranslation();
        float GetEstimatedScale();
        
        
    protected:
        
        bool Refine();
        
        void centroid(cv::Mat &P, cv::Mat &Pr, cv::Mat &C);
        
        void computeT(cv::Mat &P1, cv::Mat &P2);
        
        void CheckInliers();
        
        void Project(const std::vector<cv::Mat> &vP3Dw, std::vector<cv::Mat> &vP2D, cv::Mat Tcw, cv::Mat K);
        void FromCameraToImage(const std::vector<cv::Mat> &vP3Dc, std::vector<cv::Mat> &vP2D, cv::Mat K);
        
        
    protected:
        
        // KeyFrames and matches
        KeyFrame* mpKF1;
        KeyFrame* mpKF2;
        
        std::vector<cv::Mat> mvX3Dc1;
        std::vector<cv::Mat> mvX3Dc2;
        std::vector<MapPoint*> mvpMapPoints1;
        std::vector<MapPoint*> mvpMapPoints2;
        std::vector<MapPoint*> mvpMatches12;
        std::vector<size_t> mvnIndices1;
        std::vector<size_t> mvSigmaSquare1;
        std::vector<size_t> mvSigmaSquare2;
        std::vector<size_t> mvnMaxError1;
        std::vector<size_t> mvnMaxError2;
        
        int N;
        int mN1;
        
        // Current Estimation
        cv::Mat mR12i;
        cv::Mat mt12i;
        float ms12i;
        cv::Mat mT12i;
        cv::Mat mT21i;
        std::vector<bool> mvbInliersi;
        int mnInliersi;
        
        // Current Ransac State
        int mnIterations;
        std::vector<bool> mvbBestInliers;
        int mnBestInliers;
        cv::Mat mBestT12;
        cv::Mat mBestRotation;
        cv::Mat mBestTranslation;
        float mBestScale;
        
        // Refined
        cv::Mat mRefinedT12;
        std::vector<bool> mvbRefinedInliers;
        int mnRefinedInliers;
        
        // Indices for random selection
        std::vector<size_t> mvAllIndices;
        
        // Projections
        std::vector<cv::Mat> mvP1im1;
        std::vector<cv::Mat> mvP2im2;
        
        // RANSAC probability
        double mRansacProb;
        
        // RANSAC min inliers
        int mRansacMinInliers;
        
        // RANSAC max iterations
        int mRansacMaxIts;
        
        // Threshold inlier/outlier. e = dist(Pi,T_ij*Pj)^2 < 5.991*mSigma2
        float mTh;
        float mSigma2;
        
        // Calibration
        cv::Mat mK1;
        cv::Mat mK2;
        
    };
    
} //namespace ORB_SLAM

#endif /* Sim3Solver_hpp */
